Documentation Knowledge Base › Wuji Hand 2 › Manual
Appendix
Operations and Appendix
This page defines the terms that appear across the Wuji Hand 2 documentation, covering control modes, safety actions, and measurement conventions.
Glossary
| Term | Description |
|---|---|
| MIT force-position hybrid control | A control mode that computes torque as τ = Kp·(q_d − q) + Kd·(dq_d − dq) + τ_ff, combining position, velocity, and torque feedforward |
| Backdrive | The ability to drive a joint in reverse from the output side. Every axis on this product is back-drivable |
| FOC | Field-oriented control, the vector control method used to drive the motors |
| Enable / disable | Moving a joint into or out of a torque-carrying, controllable state |
| Emergency stop | The software action that stops the whole hand immediately, which takes no mask |
| Clear fault | The action that clears a joint fault state, applied according to the error code’s clear policy |
| User origin | A user-level calibration that sets the current physical position as the joint-side zero |
| Over-current protection (OCP) | The hardware protection that trips when current exceeds the limit |
| Curb weight | The whole-unit weight convention that includes the soft pad and output cables but excludes the base |